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05/18/2023
Reinforcement Learning for Legged Robots: Motion Imitation from Model-Based Optimal Control
We propose MIMOC: Motion Imitation from Model-Based Optimal Control. MIM...
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05/30/2022
Dynamic Walking with Footstep Adaptation on the MIT Humanoid via Linear Model Predictive Control
This paper proposes a model predictive control (MPC) framework for reali...
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11/26/2021
Rapid and Reliable Trajectory Planning Involving Omnidirectional Jumping of Quadruped Robots
Dynamic jumping with multi-legged robots poses a challenging problem in ...
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10/12/2021
Online Trajectory Optimization for Dynamic Aerial Motions of a Quadruped Robot
This work presents a two part framework for online planning and executio...
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04/19/2021